Apparatus for the automatic fuelling of automotive vehicle

ABSTRACT

Apparatus for the automatic fueling of automotive vehicles, comprising a robot which includes a fueling pistol and which is operative, to move the fueling pistol automatically from a rest position to a vehicle fueling location. The invention is characterized in that the fueling pistol (16) includes a rigid, first tubular element (20), which is intended to be moved by the robot (1) towards a receiving plate (21) provided with a hole and forming part of the vehicle fueling location. A flexible second tube (26), is arranged within the first, rigid tube (20) for movement from a first terminal position, in which the outer free end (27) of the second tube (26) is located within the first tube (20), to a second terminal position in which the second tube projects from the first tube. A pipe connector is provided between the hole and the fuel pipe of the vehicle. The robot is intended to move the free end of the first tube (20) into abutment with the receiving plate (21), and is intended to move the free end (27) of the second tube (26) out of the first tube (20) and down into the vehicle fuel pipe, in order to pump fuel through the second tube (27) down into the vehicle fuel tank.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to apparatus for the automatic fueling ofautomotive vehicles, and particularly to the refueling of cars.

2. Description of the Related Art

It is known to refuel, inter alia, buses automatically, with the aid ofan industrial-type robot having a movable arm which carries aconventionally designed fueling nozzle or pistol on the free endthereof. The buses referred to are long-distance buses and are found ina few models and designs with respect to the position of the fuel pipeon the bus and the configuration of the fuel-pipe aperture or opening.Fueling was carried out indoors, in a building corresponding to a busgarage.

Swedish Patent Specification No. 8403564-1, which corresponds with U.S.Pat. No. 4,728,955, granted Mar. 1, 1988, describes a method andapparatus for determining the mutual position of two objects. Thisspecification states that the invention can be applied conceivably foreffecting automatic refueling of cars. The primary intention with theinvention described in the prior specification is to enable the fuelingpistol to be positioned relative to the fuel pipe of the car concerned.The specification describes a technique in which a transmitter/receiverdevice functions to transmit signals of microwave frequency to aso-called transponder, which is intended to reflect signals transmittedfrom the transmitter/receiver device back to said device. Thetransponder is preferably a so-called passive transponder which does notrequire an energy boost in order to transmit the signals received fromthe transmitter/receiver device. The invention described in theaforesaid Swedish Patent Specification can be applied advantageouslytogether with the present invention, for positioning a unitcorresponding to a fueling pistol in relation to the fuel pipe of anautomotive vehicle, such as a car.

In apparatus intended for the automatic refueling of automotivevehicles, and then particularly cars, the primary problem is not one ofachieving alignment of the fueling pistol with the fuel pipe, since themethod and apparatus taught by the aforesaid Patent Specification arewell suited for achieving mutual alignment of these two components inspace to a predetermined position therebetween.

The problem concerned is a different problem, mainly that there is avery large number of different makes and models of cars and therewithinnumerable variations in the position of the fuel pipe, its angle tothe horizontal in two mutually perpendicular directions, theconfiguration of the upper portion of the pipe, i.e. the part of thepipe extending immediately from its mouth, and the diameter of saidpipe.

Furthermore, the fuel-pipe connection also has many differentconfigurations. These different variants in the design or configurationof various parts also present a problem of a different character, mainlythat it must be guaranteed that fuel exiting from the fueling pistolwill be deposited in the fuel tank of a vehicle and not on the groundbeneath.

In brief, when fueling a vehicle automatically, the vehicle is driven toan unmanned petrol station and parked within a prescribed area of, e.g.7×3 meters, with the side of the vehicle on which the fuel pipe issituated being positioned adjacent a fueling robot. The vehicle may bepositioned with the aid of known devices, which are operative toindicate to the driver those vehicle-position changes which arenecessary in order for the vehicle to be brought to a permitted,predetermined position in relation to the fueling robot. An example ofone such known arrangement is described below. Subsequent to the vehiclehaving been brought to a predetermined position, there is activated arobot which functions to advance a fueling pistol, open the fuel-pipeclosure device and establish a connection between the fueling pistol andthe fuel pipe. Movement of the robot in a direction towards the vehiclefueling location, i.e., the location of the fuel pipe, and accuratealignment of the fueling pistol in relation to the fuel pipe can becontrolled by means of an arrangement according to the aforesaid patentspecification.

Subsequent to achieving said alignment, the robot is activated to pumpfuel to the fueling pistol and down into the fuel tank of the vehiclethrough the fuel pipe. The fueling pistol is constructed to detect whenthe tank is full, in a known manner, and therewith interrupt the supplyof fuel to the tank. The robot is then activated so as to move away fromthe fuel pipe, whereafter the fuel-pipe closure device must be reclosed.

It is obvious that it is difficult to guarantee that no fuel will bepumped onto the ground instead of into the fuel tank of the vehicle, inview of the fact that the vehicles are positioned with differing degreesof accuracy and because the vehicle components concerned in such fuelingoperations differ widely with respect to their design and configuration.

Furthermore, the fueling apparatus must be so constructed that if, forinstance, a vehicle is driven away despite the fact that refueling hasnot been completed, no damage will occur to the robot or to the vehicle.The apparatus must also be able to function efficiently in widelyvarying climatic conditions.

Since the apparatus is intended to operate without the attendance ofpersonnel, it is extremely important that the vital parts of the robot,and particularly the parts which establish connection between thefueling pistol and the fuel-pipe of the vehicle, do not become damagedby rough handling or by violent action. If these parts are damaged, fuelmay well be poured onto the ground adjacent the vehicle.

The present invention resolves the aforesaid problems, among others, andprovides apparatus well suited for the automatic fueling of vehicles.

SUMMARY OF THE INVENTION

Accordingly, the present invention relates to an apparatus for theautomatic fueling of vehicles in which a robot comprising a fuelingpistol or like device is operative, in response to a sensing andsteering arrangement, to move the fueling pistol automatically from arest position to the vehicle fueling location when the vehicle is placedin a predetermined position relative to the robot. The fueling locationincludes a fuel pipe, i.e., a fuel-inlet pipe, and an openable fuel-pipeclosure device. The robot, subsequent to a connection being achievedbetween the fuel pistol and the fuel pipe, operates to pump fuel throughthe fueling pistol, down into the fuel pipe and therewith into thevehicle fuel tank. The fueling pistol includes a rigid, first annularelement, preferably a metal tube, intended to be moved by the robot to areceiving plate forming part of the fueling location, said receivingplate having a hole provided therein. A flexible second tube, preferablya plastics tube, is displacably arranged within the first, rigid tubefor movement from a first terminal position in which the outer free endof the second tube is located within the first tube, to a secondterminal position in which the second tube projects from the first tube,such that said free end of said second tube is located slightly outwardsof the free end of the first tube. A tube connection is provided betweensaid holes and the fueling pipe. The robot is constructed to move, in afirst stage, the free end of the first pipe into abutment with or to aposition in the immediate vicinity of said receiving plate and, in asecond stage, to move the free end of said second tube out of the firsttube and down into said tube connection, or into the vehicle fuel pipe,and in a third stage to pump fuel through the second tube, and down intothe vehicle fuel tank and to carry out the first two stages in areversed order upon completion of a fueling operation.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will now be described in more detail withreference to exemplifying embodiments of the invention illustrated inthe accompanying drawings, in which

FIG. 1 illustrates a first embodiment of a so-called adapter locatedbetween the outer side of a vehicle and the fuel pipe;

FIG. 2 illustrates a second embodiment of an adapter;

FIG. 3 illustrates schematically part of a robot constructed inaccordance with the invention;

FIG. 4 illustrates schematically a fueling station in which theinvention is applied;

FIG. 5 is a sectional view of the adapter shown in FIG. 1;

FIG. 6 illustrates the adapter shown in FIG. 5, seen from the left inFIG. 5;

FIG. 7 is a sectional view taken on the line B--B in FIG. 6;

FIG. 8 is a view taken on the line A--A in FIG. 5;

FIG. 9 is a sectional view of the adapter shown in FIG. 1 and shows apart of a tube carried by the robot;

FIG. 10 is a plan view of an adapter with an associated flaps;

FIG. 11 is a plan view from the front of an element attached to a secondtube; and

FIG. 12 is a side view of the construction illustrated in FIG. 11.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 4 illustrates schematically a fueling station from above. Thefueling station is attended by apparatus which includes a robot 1 whichruns on guides 2, such as to be brought to a position parallel with thelongitudinal axis of the vehicle 3. The robot is equipped with a robothead 4 capable of being moved towards and away from the vehicle 3. Therobot head 4 includes a fueling nozzle or pistol 16 (see FIG. 3) or somecorresponding device, and is moved automatically from a rest position tothe vehicle fueling position in response to a sensing and steeringarrangement, subsequent to the vehicle having been located in apredetermined position relative to the robot for instance, lines 5, 6can be painted for the purpose of signalling to the driver of a vehiclehow the vehicle shall be positioned in its transverse direction.Correction positioning of the vehicle in the direction of itslongitudinal axis can be effected, for instance, with the aid of pairsof photocells 7, 8, which co-act with a suitable display, not shown,operative to inform the driver that the vehicle should be drivenforwards, backwards or stopped. Such arrangements are well known and areused, inter alia, in automatic car washing facilities. The referencenumerals 9, 10 designate pay machines. When the vehicle has beenpositioned correctly within a predetermined, permitted area, a sensingand steering arrangement causes the robot to move the fueling pistolautomatically from a rest position to the vehicle fueling location.Since this sensing and steering arrangement does not form part of thepresent invention, it will not be described in detail here. The sensingarrangement used may conveniently be of the kind described in theaforesaid Patent Specification. In this case, the robot head 4 willinclude a transmitter/receiver unit and the vehicle will include atransponder positioned close to the fueling location. The steering orcontrol arrangement is conveniently of a known kind for controllingrobots, which in this case is intended to receive signals from thetransmitter/receiver unit in the form of robot-control input signals.The vehicle fueling location 11 includes a fuel pipe 12; 13 and anopenable fuel-pipe closure device 14; 15, see FIGS. 1 and 2. The robotis constructed to pump fuel through the fueling pistol, into the fuelpipe and therewith down into the vehicle fuel tank, subsequent toachieving connection between the fueling pistol 16 and the fuel pipe 12;13.

In accordance with the invention, the fueling pistol 16 includes arigid, first tubular element 20, preferably a metal tubular element,which is intended to be moved by the robot to a position adjacent areceiving plate 21; 22 forming part of the vehicle fueling location, seeFIGS. 1 and 2. The first tubular element 20 need not be an impervioustube, but may consist, for instance, in a number of mutually parallelguide strips which together form a cylinder-like guide tube. Theessential function of the tubular element 2D is to guide a second tube26.

In the case of the FIG. 1 embodiment, the receiving plate 21 forms partof an adapter 23, a sectional view of which is shown in larger scale inFIGS. 5 and 9. FIG. 2 illustrates a modified receiving plate 22. Thereceiving plate 21; 22 is perforated with a hole 24; 25, said firstguide tube 20 being intended to be positioned concentrically with saidhole by means of the robot head 4. A flexible, second tube 26,preferably a plastics tube, is displaceably mounted within the first,guide tube 20. The second tube 26 can be displaced from a first terminalposition, in which the outer free end 27 of the tube 26 is locatedwithin the first tube 20, to a second terminal position, in which thesecond tube projects from the first tube, such that said free end 27 ofsaid second tube will be located slightly outwards of the free end 28 ofthe first tube 20. The first terminal position of free end is indicatedin FIG. 3 by the broken line 29, whereas the second terminal position isindicated by the broken line 30. Thus, the second tube 26 can bedisplaced from the first tube 20 through a total distance L.

A pipe connection 31; 32 is provided between said holes 24; 25 and thefuel pipe 12; 13. This pipe connection can be completely impervious, ormay also solely be configured to form a guide operative to steer thesecond, flexible tube into the fuel pipe, as hereinafter described.

The robot 1 is constructed to move, in a first stage, the free end 28 ofthe first tube 20 into abutment with, or to a position in the immediatevicinity of the receiving plate 21; 22, with the aid of said robot head4, and in a second stage to move the free end 27 of the second tube 26out of the first tube 20, and down into said pipe connection 31; 32. Ina third stage, the robot functions to pump fuel through the second tube26, down into the pipe connection 31; 32 or the fuel pipe 12; 13 andtherewith into the vehicle fuel tank. The robot then carries out the twofirst mentioned stages in a reversed order, upon completion of a fuelingoperation.

FIG. 3 illustrates schematically an arrangement for moving the secondtube 26 out of the first tube 20. This arrangement includes a non-drivenchain wheel 36 and a driven chain wheel 38 driven by means of anelectric motor 37, and a chain 39. An attachment device 40 is attachedto the chain 39. The attachment device is also connected to a coupling41 between the second tube 26 and a hose 42 or corresponding device. Thehose 42 extends to a fuel tank from which fuel is pumped to the vehiclein the direction of the arrow 43. The attachment means 41 can thus bemoved in the direction of the double-headed arrow 44, by means of saiddrive means.

The robot head 4 is mounted by means of a cardanic suspension device 45,so as to be readily movable in both the horizontal and vertical planes,as illustrated by arrows 46 and 47 respectively. A number ofspring-biased arms project from the forward part of the robot head, ofwhich two arms 48, 49, are shown in FIG. 3. Suitably, four arms areprovided which, seen in a view from the left in FIG. 3, are each seatedin a respective corner of a square. Microswitches are preferablyconnected to the arms 48, 49. These arms, in combination with thecardanic suspension of the robot head, cause the robot head to beautomatically positioned in parallel with the outer surface of thevehicle at the vehicle fueling location 11, when the robot head is movedinto abutment with the vehicle by said robot. As will be understood, itis the outer parts of respective arms 48, 49 which come into abutmentwith the vehicle. The microswitches function to deliver signals to therobot control system and therewith provide information as to whether ornot all arms are in abutment with the vehicle.

Located between the receiving plate 21; 22 and the fuel pipe 12; 13 is ahole 14; 15 which is provided with a closure device in the form of aflap 60; 61, which can be opened against a spring force. The flap 60; 61is opened by the free end 27 of the second tube 26 as said end is movedout of the free end of the first tube.

FIG. 1 illustrates an adapter 23 which includes one such flap 60. Theflap 60 can be moved to the position 60' shown in chain lines, inresponse to pressure exerted by the free end 27 of the second tube 26 assaid tube is advanced from right to left in FIG. 9. The flap 60 issuspended on a spring 62 mounted on a shaft 63.

FIGS. 5-8 illustrate the adapter in various different sections andviews. The reference numeral 64 identifies an adapter body and thereference numeral 65 a packing.

In accordance with one preferred embodiment, the flap 60 is providedwith a lock capable of being opened by means of a magnetic force. FIG. 7is a sectional view taken on the line B--B in FIG. 6. The upperperipheral part of the flap is normally held locked with the aid of alock hook 66. The arrangement may comprise two such lock hooks 66, 67,as illustrated in FIG. 6. In FIG. 7, the reference numeral 67'identifies a spring, the reference numeral 68 identifies a furtherspring, the reference numeral 69 identifies a slide, and the referencenumeral 70 a magnet. When the magnet 70 is repelled by a further magnet71, the slide will move to the left in FIG. 9, wherewith the flapperiphery is able to press the lock hook 66 into a recess 72 in theslide. The magnet 71 is preferably mounted on the forward part of thefirst tube 20, such that the magnet 71 will be located in the positionshown in FIG. 7 when the first tube 20 comes into abutment with thereceiving plate 21, therewith unlocking the flap. As a result of theconfiguration and positioning of the lock hook, when resting against thespring 68 the lock hook can be depressed when the flap moves from itsopen position and to the right in FIG. 7, even when the slide occupiesthe position shown in FIG. 7. The flap can thus always be closed, butcan only be opened when the magnet 70 is repelled by the magnet 71, suchthat the slide will be displaced to the left in FIG. 7.

In that case when the adapter equipped with such a lockable flap 61 isplaced adjacent the upper orifice of the fuel pipe, as illustrated inFIG. 2, a magnet is mounted at the mouth or orifice of the second tube.

It will be understood, however, that the flap 60; 61 need notnecessarily be lockable.

According to one embodiment, an outer part 72' is rotatably attached tothe adapter body 64. As shown in FIG. 6, a bayonette plate 100 isprovided on the left side of the adapter in FIG. 5. This bayonette plateis intended to co-act, in a known manner, with a second half of aconventional bayonette fitting, this second half of said fitting beingmounted in the upper part of the connecting pipe 31. This fitting thusenables the whole of the adapter illustrated in FIG. 5 to be removed.The need to remove the adapter is found when the flap can be locked withthe aid of a magnetic lock and fueling of the vehicle is effectedmanually. As before mentioned, the part 72' is rotatable in relation tothe body 64. A lock 101, 102 is provided for locking said outer part 72'relative to the body 64, such locking being effected when the element102 is rotated so that the lock element 102 is in abutment with theperiphery 103 of the body 64. Although not shown, the periphery 103 isserrated. When said outer part 72' is locked in relation to the body 64,the adapter can be released from the connector pipe, by grasping saidouter part and releasing the bayonette fitting.

FIG. 9 illustrates the embodiment also illustrated in FIG. 1. Accordingto one preferred embodiment, the receiving plate 21 is provided with aconically bevelled part 80 in the region around said hole 14. The freeend of the first tube 20 is provided with a corresponding conicalbevelling 81. As a result, final alignment of the first tube with thereceiving plate will be achieved very accurately.

FIG. 9 illustrates a position in which the second tube 26 has just movedpast the adapter flap 60. Prior to commencing fueling of the vehicle,the second tube is advanced further down towards the fuel pipe.According to one preferred embodiment, the second tube 26 is arranged toproject slightly from the first tube, through a distance of about100-300 mm. In this case, it is preferred that the second tube projectsthrough a distance such that the mouth of said tube will be locatedwithin the fuel pipe.

According to one particularly advantageous embodiment, the second tube26 is arranged to project out from the first tube 20 through a distancesuch that the free end 27 of said second tube will be located in thevehicle fuel tank. This embodiment enables high-pressure fueling of thevehicle to be effected, where the fuel can be pumped under high pressureand therewith rapidly into the vehicle fuel tank. For instance, a tankhaving a capacity of 60 liters can be filled in about 30 seconds.

The embodiment illustrated in FIGS. 1 and 2 includes an openable, outerflap 82 which is connected with the receiving plate 21; 22 and whichcovers said plate when in its closed position. The flap is shown in itsopen position 82 in chain lines. FIG. 10 is a view from above of anadapter provided with said flap. The flap may, for instance, be hingedat its upper edge and provided with recesses 83, 84 at its lowercorners, so as to enable the flap to be gripped in order to open thesame.

The robot head 4 is provided with an opening arrangement, in the form ofone or more outwardly pivotable arms (not shown) intended for co-actionwith the recesses 83, 84 for the purpose of opening the flap 82 when theend of the first tube 20 is located a short distance from the receivingplate.

According to another preferred embodiment of the invention, a radial gap85 is provided between the first tube 20 and the second tube 26. The endof the gap 85 located nearest the robot communicates with a device forcollecting and condensing fuel vapour. FIG. 3 shows in broken lines apipe 86 which communicates with said gap and which functions to conveyfuel vapour to a collecting and condensing facility. The gap is sealedwith the aid of a seal 87 located between the first and the secondtubes. A rubber cuff 110' may be provided adjacent the outer end of thefirst tube, so as to seal against the vehicle, see FIG. 3.

As mentioned in the introductory paragraphs, an aligning and controlsystem, according to the aforesaid Patent, can be used advantageouslytogether with the present invention. Thus, the transmitter/receiver unit90 can be positioned in the manner illustrated in FIG. 3, and thetransponder 91 positioned in the casing in which the adapter is carried,see FIG. 1.

According to one preferred embodiment, the free end 27 of the secondtube 26 has fitted thereto an alignment arrangement 110 which eliminatesthe need of accurately aligning the first tube 20 with the receivingplate. This arrangement 110 includes three legs 111-113 which projectfrom the mouth of said second tube and which extend to a point 114 onthe longitudinal axis of the second tube and externally of the free end27. The other ends of respective legs 111-113 can be attached to anannulus 115, which is in turn attached to the mouth of the second tube26. As a result of this arrangement, when aligning the fueling pistol,it suffices that the point 114 falls within an imaginary cylindricalsurface projected geometrically from the hole 24, 25 in the receivingplate and having the same diameter as said hole. FIGS. 11 and 12illustrate a pipe 116 forming part of a conventional overfill guard.

The casing 93 is vehicle-specific, due to the fact that the fuelinglocations of different vehicles have mutually different configurations.Referring back to FIGS. 1 and 2, the connecting pipe 31; 32 may eitherbe made of a relatively rigid material, wherewith this part must also bevehicle-specific, or may be made of a flexible material, so as to enablea connecting pipe to be fitted to different makes of vehicle.

In accordance with the present invention, the second tube 26 ispositioned within the first tube 20 When not in use, so as to beprotected within said second tube. When fueling a vehicle, the firsttube is aligned accurately with the vehicle. The second tube 26 is thenguided down into the fuel pipe, by means of the connecting pipe,wherewith said second tube, due to its flexibility, slides easily downinto the fuel pipe, irrespective of the curves and angles contained inthe path from the hole 24; 25 of the receiving plate to the fuel pipe.

Thus, it is ensured by the present invention that the tube, i.e., thesecond tube, from which fuel flows during a fueling operation willalways be located down in the fuel pipe or in an impervious connectingpipe. The most significant characteristic feature for achieving this, isthat alignment of the fueling pistol with the vehicle is effected withthe aid of a rigid, tubular element 20 in combination with movement ofthe flexible tube 26 out of the rigid tube 20 and that said flexibletube is guided down towards the fuel pipe.

The present invention avoids all of the drawbacks and problems mentionedin the introduction. The robot can be used for fueling, for instance,essentially all cars available on the market, where only the casing 93and possibly the connecting pipe are car specific.

Because of the flexibility of the second tube in combination with thecardanic suspension of the robot head, the robot will be swung to oneside and the second tue withdrawn from the fueling location of thevehicle should the vehicle be driven away before fueling is completed,without damage to either the robot or the vehicle. In the event that thevehicle is driven away before fueling is completed, the aforesaidmicroswitches will be activated. Activation of the microswitches while avehicle is being fueled will cause the control arrangement to interruptimmediately the supply of fuel to the second tube 26.

It will be understood that the invention is not restricted to thedescribed and illustrated embodiments thereof and that modifications andchanges obvious to the person skilled in this art can be made. Forinstance, the robot and robot head may have other configurations. Theadapter and its lockable flap may also have a different configuration.Furthermore, the arrangement by means of which the second tube is drivenrelative to the first tube may also have a different configuration.

The present invention is therefore not restricted to the aforesaid andillustrated embodiments, since variations can be made within the scopeof the following claims.

I claim:
 1. Apparatus for the automatic fueling of automotive vehicles,said apparatus comprising: a robot, a fueling nozzle carried by therobot, sensing and steering means operative to control movement of therobot and to move the fueling nozzle automatically from a rest positionto a position adjacent a fuel inlet on a vehicle subsequent to saidvehicle having been positioned in a predetermined position relative tosaid robot, a vehicle fuel inlet including a receiving plate having ahole into which the fueling nozzle can be inserted and including a fuelpipe, a pipe connector extending between said hole and the fuel pipe,and an aperture positioned between the receiving plate and the fuelpipe, the aperture including a normally closed, spring biased closuredevice that can be opened by pressing against the closure device toovercome the spring force, said robot communicating with a source offuel to deliver fuel through the fueling nozzle down into the fuel pipeand therewith into the vehicle fuel-tank after connection between thefueling nozzle and the fuel inlet has been established, wherein thefueling nozzle includes a rigid, first tubular element movable by therobot towards the hole in the receiving plate, a flexible second tubedisplaceably arranged within the said rigid, first tubular element froma first terminal position in which an outer free end of the second tubeis located within the first tubular element to a second terminalposition in which the second tube projects from the first tubularelement a distance such that said free end of the second tube is locatedslightly outwards of a free end of said first tubular element; andwherein the free end of the first tubular element is movable by therobot into position immediately adjacent the hole of said receivingplate and wherein the free end of the second tube is movable out of thefirst tubular element and into said pipe connector to communicate withthe fuel tank of said vehicle, and to deliver fuel through the secondtube and into the vehicle fuel tank; and wherein said robot is operableto withdraw said second tube from the fuel inlet upon completion of afueling operation.
 2. Apparatus according to claim 1, wherein thereceiving plate has a conically bevelled part around said hole; andwherein the free end of the first tubular element is provided with acorresponding conical bevel.
 3. Apparatus according to claim 1, whereinthe second tube is movable relative to the first tubular element througha distance of about 100-300 mm.
 4. Apparatus according to claim 1,wherein the second tube is movable relative to the first tubular elementthrough a distance sufficient to position the free end of the secondtube in the vehicle fuel inlet.
 5. Apparatus according to claim 1,wherein the receiving plate carries an openable flap which covers saidplate when the flap is in its closed position; and wherein the robotincludes an opening means operative to open said flap when the free endof the first tubular element is located adjacent to the receiving plate.6. Apparatus according to claim 1, wherein the closure device includes aflap which is hingedly connected relative to said aperture; and whereinthe flap includes a magnetically operated lock.
 7. Apparatus accordingto claim 1, wherein a radial gap separates the first tubular element andthe second tube, and wherein the apparatus includes collecting means forcollecting and condensing fuel vapor, and communication means extendingfrom an end of said gap located nearest the robot to the collectingmeans.